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<pre><span class="sourceLineNo">001</span>package imagingbook.calibration.zhang;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import org.apache.commons.math3.linear.RealMatrix;<a name="line.3"></a>
<span class="sourceLineNo">004</span><a name="line.4"></a>
<span class="sourceLineNo">005</span>import imagingbook.calibration.zhang.util.MathUtil;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import imagingbook.pub.geometry.mappings.Mapping;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span><a name="line.8"></a>
<span class="sourceLineNo">009</span>/** <a name="line.9"></a>
<span class="sourceLineNo">010</span> * This class represents the 2D geometric transformation for an image taken <a name="line.10"></a>
<span class="sourceLineNo">011</span> * with some camera A to an image taken with another camera B.<a name="line.11"></a>
<span class="sourceLineNo">012</span> * <a name="line.12"></a>
<span class="sourceLineNo">013</span> * @author W. Burger<a name="line.13"></a>
<span class="sourceLineNo">014</span> * @version 2016-06-01<a name="line.14"></a>
<span class="sourceLineNo">015</span> */<a name="line.15"></a>
<span class="sourceLineNo">016</span>public class InterCameraMapping extends Mapping {<a name="line.16"></a>
<span class="sourceLineNo">017</span>        <a name="line.17"></a>
<span class="sourceLineNo">018</span>        private final Camera camA, camB;<a name="line.18"></a>
<span class="sourceLineNo">019</span>        private final RealMatrix Abi;   // inverse of the intrinsic camera b matrix (2 x 3)<a name="line.19"></a>
<span class="sourceLineNo">020</span><a name="line.20"></a>
<span class="sourceLineNo">021</span>        public InterCameraMapping (Camera camA, Camera camB) {<a name="line.21"></a>
<span class="sourceLineNo">022</span>                this.isInverseFlag = true;      // maps target -&gt; source<a name="line.22"></a>
<span class="sourceLineNo">023</span>                this.camA = camA;               // camera A (used to produce the source image)<a name="line.23"></a>
<span class="sourceLineNo">024</span>                this.camB = camB;               // camera B (determines the geometry the target image)<a name="line.24"></a>
<span class="sourceLineNo">025</span>                this.Abi = camB.getInverseA();<a name="line.25"></a>
<span class="sourceLineNo">026</span>        }<a name="line.26"></a>
<span class="sourceLineNo">027</span>        <a name="line.27"></a>
<span class="sourceLineNo">028</span>        @Override<a name="line.28"></a>
<span class="sourceLineNo">029</span>        public double[] applyTo(double[] uv) {<a name="line.29"></a>
<span class="sourceLineNo">030</span>                // (u,v) is an observed sensor point<a name="line.30"></a>
<span class="sourceLineNo">031</span>                // apply the inverse camera mapping to get the distorted (x,y) point:<a name="line.31"></a>
<span class="sourceLineNo">032</span>                double[] xy = Abi.operate(MathUtil.toHomogeneous(uv));<a name="line.32"></a>
<span class="sourceLineNo">033</span>                <a name="line.33"></a>
<span class="sourceLineNo">034</span>                // remove the lens distortion of camera b:<a name="line.34"></a>
<span class="sourceLineNo">035</span>                double[] xyu = camB.unwarp(xy);<a name="line.35"></a>
<span class="sourceLineNo">036</span>                <a name="line.36"></a>
<span class="sourceLineNo">037</span>                // apply the lens distortion of camera a:<a name="line.37"></a>
<span class="sourceLineNo">038</span>                double[] xyd = camA.warp(xyu);<a name="line.38"></a>
<span class="sourceLineNo">039</span>                <a name="line.39"></a>
<span class="sourceLineNo">040</span>                // apply the (forward) camera mapping to get the undistorted sensor point (u',v'):<a name="line.40"></a>
<span class="sourceLineNo">041</span>                return camA.mapToSensorPlane(xyd);<a name="line.41"></a>
<span class="sourceLineNo">042</span>        }<a name="line.42"></a>
<span class="sourceLineNo">043</span><a name="line.43"></a>
<span class="sourceLineNo">044</span>}<a name="line.44"></a>




























































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